i

A DESIGN PROJECT OF A REMOTELY

OPERATED UNDERWATER VEHICLE

A Thesis Submitted to the Faculty of Engineering of İzmir Institute of

Technology in Partial Fulfillment of the Requirements for Degree of

BACHELOR OF SCIENCE

in Mechanical Engineering

by

Group 7

Serdar ÖZDEMİR 160203013

Selim ŞAHİN 160203032

Mert Bartu IŞIK 160203040

Mustafa Harun YAKUT 160203007

Seyfi GİRGİN 160203041

Özgün ARI 150203006

June, 2013

İZMİR

ii

ACKNOWLEDGEMENTS

We would like to thank the advisors, Assistant Professor M. İ. Can DEDE and

Assistant Professor Ünver ÖZKOL for their help while studying on this project. Also,

we appreciate the help of the Civil Engineer Mehmet CENGİZ for funding, Efe Lazer

A.Ş. and Nehir EREN for Drybox manufacturing, Kastaş A.Ş. for sealing solutions,

İYTE workshop staff Murat MİRZA, Şerafettin ÇAVDAR, Arif TOSUN and Mert

Bartu IŞIK’s father for transportation.

iii

ABSTRACT

A DESIGN PROJECT OF A REMOTELY OPERATED UNDERWATER

VEHICLE

Underwater ROVs’ have very large field of operation and help many people

such as scientists, explorers or other different industrial users. Operators generally use

these vehicles to eliminate the risks of the underwater environment. Under 50 meters

divers need more oxygen and after the operation they may need to be treated in

pressurized rooms. The purpose of that study is to generate a simple solution for the

divers and underwater surveillance operations. This report includes design and

manufacture process of a small scale ROV which can be operational at maximum depth

of 50 m underwater and it provides the user a camera view and an object scaling system.

iv

TABLE OF CONTENTS

LIST OF FIGURES…………………………………………………………………….vi

LIST OF TABLES……………………………………………………………………...ix

CHAPTER 1. INTRODUCTION………………………………………………………..1

1.1. Purpose of Project……………………………………………………...1

CHAPTER 2. PROJECT MANAGEMENT STUDIES…………………………………2

2.1. Linear Responsibility Chart……………………………………………2

2.2. Gantt Chart…………………………………………………………….2

2.3. Work Breakdown Structure……………………………………………3

CHAPTER 3. DESIGN REQUIREMENTS AND CONSTRAINTS…………………...4

3.1. Problem Statement……………………………………………………...4

3.2. Design Requirements...............................................................................4

3.3. Design Constraints………………………………………………….......5

CHAPTER 4. DESIGN AND PROTOTYPING OF SUSBSYTEMS…………………6

4.1. Thruster Design………………………………………………………..6

4.1.1. Sealing of Thrusters………………………………………………..6

4.1.2. DC Motors…………………………………………………………9

4.1.3. Shaft………………………………………………………………10

4.1.3.1. Fatigue Calculations………………………………………….10

4.1.4. Coupling and Ball Bearings……………………………………13

4.1.5. Propellers………………………………………………………14

4.1.5.1. 13mm Propellers……………………………………………15

4.1.5.2. 8mm Propellers……………………………………………..15

4.1.6. Test of Thrusters…………………………………………………16

4.2. Drybox and Frame…………………………………………………..20

4.2.1. Geometry………………………………………………………...21

4.2.2. Sealing of Drybox………………………………………………..24

v

4.2.3. Cable Connections (Cable Glands)……………………………….24

4.2.4. Strength Analysis of Drybox……………………………………..25

4.2.5. Strength Analysis of Plexiglas…………………………………....28

4.3. Control………………………………………………………………..31

4.3.1. Electronic Components…………………………………………...31

4.3.1.1. Arduino and Ethernet Shield………………………………....31

4.3.1.2. Motor Driver Cards…………………………………………..33

4.3.1.3. Batteries……………………………………………………....33

4.3.1.4. Pressure Sensor……………………………………………….34

4.3.1.5. Camera………………………………………………………..34

4.3.1.6. Router………………………………………………………...35

4.3.1.7. Electronic Circuits…………………………………………....35

4.4. Buoyancy and Stabilization…………………………………………..36

4.4.1. Center of Buoyancy……………………………………………....36

4.4.2. Buoyancy Calculations…………………………………………...37

4.5. Object Scaling System ………………………………………………39

4.6. Communication and Tethering……………………………………….40

4.7. User Interface………………………………………………………...41

4.8. Manufacturing and Assembly………………………………………42

4.8.1. Manufacturing of Drybox……………………………………....42

4.8.2. Manufacturing of Thruster Casings…………………………….44

4.8.3. Production of Cable Glands……………………………………47

4.8.4. Production of Semispherical Plexiglas…………………………48

4.8.5. Production of Pulley System…………………………………...48

CHAPTER 5. RESULTS………………………………………………………………49

5.1. Vertical Motion………………………………………………………49

5.2. Horizontal Motion…………………………………………………....51

5.3. Power Budget………………………………………………………..54

5.4. Total Cost……………………………………………………………55

REFERENCES................................................................................................................56

APPENDICES.................................................................................................................57

vi

LIST OF FIGURES

Figure Page

Figure 1. Work Breakdown Structure 3

Figure 2. Section of Dynamic Sealing Part Manufactured by KASTAŞ A.Ş. 6

Figure 3. Section of Static Sealing Part Manufactured in İYTE Workshop 7

Figure 4. Dynamic Sealing Part with Sealing Elements 7

Figure 5. Static Sealing Parts with Sealing Elements 8

Figure 6. Cable Gland 8

Figure 7. The Behavior of the Hose Pipe under Pressure 9

Figure 8. DC Motor 10

Figure 9. Fatigue Calculation Diagrams 11

Figure 10. Coupling and Ball Bearing 14

Figure 11. 13mm Propeller 15

Figure 12. 8mm Propeller 16

Figure 13. Thruster Test Setup 16

Figure 14. Graph of Current versus Voltage (Without Oil) 17

Figure 15. Graph of Thrust versus Voltage (Without Oil) 17

Figure 16. Graph of Current versus Voltage (Without Oil) 18

Figure 17. Graph of Current versus Voltage (With Oil) 18

Figure 18. Graph of Thrust versus Voltage (With Oil) 19

Figure 19. Cross Section of Thruster Assembly 19

Figure 20. Assembly of Inner Components of Thruster 20

Figure 21. Illustration of the Drybox Main Body 21

Figure 22. Technical Drawings of Drybox Main Body 22

Figure 23. Technical Drawings of Frame 23

Figure 24. Technical Drawing of O-ring, Flange Assembly 24

Figure 25. Pressure Acting to the Surface 25

Figure 26. Result of Equivalent Stress 26

Figure 27. Maximum Principle Stress 26

Figure 28. The Maximum Shear Stress 27

Figure 29. The Equivalent Stress 27

vii

Figure 30. Total Displacement 29

Figure 31. Equivalent Stress 29

Figure 32. Equivalent Strain 30

Figure 33. Arduino Mega 2560 31

Figure 34. Arduino Ethernet Shield 32

Figure 35. Motor Driver Cards 33

Figure 36. Pressure Sensor 34

Figure 37. TP Link WR 720N Router Rear View 35

Figure 38. Fully Assembled Electronic Components 35

Figure 39. Center of Buoyancy and Mass 37

Figure 40. Diagram of the Forces Acting on the Body 37

Figure 41. User Interface of Scaling System 39

Figure 42. Tether Cable 40

Figure 43. User Interface 41

Figure 44. Unwelded Parts of Body 42

Figure 45. TIG Welding Process 43

Figure 46. Laser Cutting Process 43

Figure 47. Cylindrical Pipe (AISI316 Stainless Steel) 43

Figure 48. Flanges 44

Figure 49. Casing Front Cap 45

Figure 50. Inside of a Casing 45

Figure 51. Inner Components Assembly of a Thruster 46

Figure 52. Hose, Blind Plug and Motor, Coupling and Shaft Assembly 46

Figure 53. Fully Assembled Thruster 47

Figure 54. Cable Gland 47

Figure 55. Cable Gland (Disassembled) 47

Figure 56. Semispherical Plexiglas 48

Figure 57. Pulley System Left View 48

Figure 58. Pulley System Front View 48

Figure 59. Vertical Motion Velocity – Time Graph 49

Figure 60. Vertical Motion Facc – Fdrag versus Time Graph 50

Figure 61. Vertical Motion Acceleration – Time Graph 50

Figure 62. Vertical Motion Mechanical and Electrical Power 51

viii

Figure 63. Horizontal Motion Velocity – Time Graph 52

Figure 64. Horizontal Motion Facc – Fdrag – Time Graph 52

Figure 65. Horizontal Motion Acceleration – Time Graph 53

Figure 66. Horizontal Motion Mechanical and Electrical Power versus Time 53

Figure 67. Maximum Power Consumption of the System 54

ix

LIST OF TABLES

Table Page

Table 1. Linear Responsibility Chart 2

Table 2. Mechanical Properties of AISI316 Stainless Steel 25

Table 3. Results of Stresses 28

Table 4. Mechanical Properties of Plexiglas 28

Table 5. Center of Buoyancy 36

Table 6. Buoyancy Calculations 38

Table 7. Calculations for Needed Free Volume 38

Table 8. Cost Analysis 55

1

CHAPTER 1

INTRODUCTION

As a brief introduction, this project focuses on a design of an ROV, that’s why

short information about the ROV will be useful. First of all, ROV stands for remotely

operated vehicle. An ROV is a type of machine or robotic system which allows people

to explore the underwater environment or people can work at underwater structures via

ROV’s. These machines use propellers for thrust. And most of them are equipped with

at least one camera for surveillance. They can be controlled through a cable connection

or a wireless system. In this project the main subject is designing a small scale

unmanned ROV which can dive under 50 meters and accomplish specific tasks that are

predefined by the instructions. [1]

1.1. Purpose of the Project

When we consider this underwater ROV project, the main goal is to design and

manufacture a prototype which can be a solution for surveillance problems encountered

underwater operations. While designing the project secondary aim is to use our

knowledge on design process and project management areas. In addition to these

elements, to get some engineering experience that contains engineering design and

calculations. Then meeting the end user and the other engineers who are working active

in the field is another key element of conducting that project.

While developing this project, the point is that we have been trying to design a

system which satisfies the design requirements and criteria. These requirements are

given the section below.

Since the ROV can be operated 50 meters under the sea level, it can be a

practical solution for many end users. With the help of the additional task, the object

scaling with camera, this ROV especially focuses on the surveillance operations. So the

end users can use it while underwater pipe or cable inspection and determine the length

of cracks on the pipes or it can be used for ship hull inspections or to observe some

underwater living creatures.

2

CHAPTER 2

PROJECT MANAGEMENT STUDIES

2.1. Linear Responsibility Chart

This Linear Responsibility Chart (LRC) shows the distribution of the

responsibilities of tasks within the project. Every team member has primary and

secondary responsibilities according to the complexity or simplicity of the given tasks.

The table below shows how and which responsibilities are given to the members.

Table 1. Linear Responsibility Chart

2.2. Gantt Chart

Gantt chart can be seen in the appendix section, it is not shown under that topic,

because of its large dimensions. The Gantt chart includes the time line of the design

project.

3

2.3. Work Breakdown Structure

Figure 1. Work Breakdown Structure

4

CHAPTER 3

DESIGN REQUIREMENTS AND CONSTRAINTS

3.1. Problem Statement

The starting point of that project is that how can we keep humans away from

risky environment while making underwater surveillance work. These risks can be

indicated as; higher hydrostatic pressure, lack of oxygen, risk of decompression

sickness that’s why as a group, we tried to find a solution to eliminate these risks and

any possible injuries.

3.2. Design Requirements

Before starting that project in order to specify a design target, design

requirements are needed and this section contains these requirements and the desired

features of the ROV.

Will be operated at the depth of 50 meters

At least one hour battery life for operation

With an onboard camera that can be rotated ± 80º in two axis

Can be controlled remotely by an operator on a boat

Will dive and move on the plane of desired depth;

Able to turn right or left while moving in desired direction

Able to rotate around the vertical axis that passes through the center of mass.

Will be controlled with at least one joystick

Have a user interface which provides;

Depth information

Orientation and direction information

Interface to capture and save photographs from camera view

Object scaling interface

Able to approach sea-floor without muddying.

5

3.3. Design Constraints

These are the design constraints which we encountered if the design

requirements are considered.

Economic

Our budget is approximately 2000 TL. We have managed to receive some fund

for the project and that amount should not exceed. The cost is the most important value

in evaluating design alternatives.

Environmental

Environment is another concern while designing the project. To protect the

nature, the paint on the body and other components should be friendly for environment.

The thruster casings will be filled with oil and the oil discharge to the sea is an

undesired result.

Health and Safety

Due to the ROV runs on electrical power that’s why any short circuits or

electrical leaks could be dangerous for operator or other sea inhabitants. In addition to

that, all of the sharp objects and edges on the system are unwanted.

Manufacturability

Our budget is limited so the design alternatives that can be easy produced should

be preferred. Besides the limited budget, the production facilities are limited and the

design can be changed as a result of the tests, so ease of the manufacture is desired.

6

CHAPTER 4

DESIGN AND PROTOTYPING OF SUBSYSTEMS

4.1. Thruster Design

Thrust is the reaction force that is created by propulsion system by accelerating a

mass of fluid and it is a vector quantity having both a magnitude and a direction.

Thruster is a device that creates force to move any object. In this project, we have

determined to use propeller-shaft-motor system as thruster. The main purpose of ROV

is to dive and running 50m underwater. This is the hardest design constrains that we

have to solve. The ROV must work at 6 bar pressure.

4.1.1. Sealing of Thrusters

The most conservative solution of sealing is to use sealing elements as O Ring

or rod sealing elements. We could not manufacture the parts where the sealing elements

are used. So we arranged a meeting with Kastaş A.Ş to design and produce the dynamic

sealing parts. They design the thruster part and produce the new rod sealing elements

for our project. We manufactured the static sealing part in our workshop at lathe.

Figure 2. Section of Dynamic Sealing Part Manufactured by KASTAŞ A.Ş.

7

Figure 3. Section of Static Sealing Part Manufactured in İYTE Workshop

Figure 4. Dynamic Sealing Part with Sealing Elements

Rod Sealing

Elements

O Rings

8

Figure 5. Static Sealing Parts with Sealing Elements

In addition to this we used cable glands and Teflon tape for thruster connection.

Figure 6. Cable Gland

[2] (Source: http://www.cable-glands-brass.com/brass-metric-strain-

relief/brass-cable-glands.gif)

O Rings Cable Gland

Housing

9

On the other hand, sealing elements, (O Rings and rod sealing elements) were

not enough for sealing. In order to solve sealing problem, we use a method from

S.U.T.A (Sualtı Teknolojileri Araştırma Enstitüsü/Bodrum). SUTA has advised us to

use dielectric oil for sealing. We have drilled the thruster case and placed a hose pipe.

The principle is that when the outside pressure is increasing, elastic hose pipe will be

compressed so inner pressure is increasing because of the deformation. Therefore there

will be no mass transfer in thruster because of the equality of pressure.

Figure 7. The Behavior of the Hose Pipe under Pressure

4.1.2. DC-Motors

In thruster design, a DC Motor with reductor is used. The reason is to decrease

RPM and current and to increase torque.

Technical Properties of DC Motor [3]

Running Voltage: 12 V

Revolution per minute: 750 rpm

Unload Current: 240mA

Load Current: 4APower: 48W

Torque: 6 kg/cm

Motor diameter: 36mm

Elastic Hose

Pipe Elastic Hose Pipe

is compressed

1 Bar

1 Bar

5 Bar

5 Bar

10

Reductor diameter: 42mm

Shaft: 7mm shaft

Shaft length: 17mm

Motor length: 86mm

Weight: 234 gr

Figure 8. DC Motor

[3] (Source: http://www.robotistan.com/12V-750Rpm-Reduktorlu-DC-

Motor,PR-785.html)

4.1.3. Shaft

The material of shaft is Ti-35A (Annealed) and for propeller assembling screw

on to shaft is threaded. Besides we have completed the fatigue calculation of shaft.

4.1.3.1. Fatigue Calculations

Shaft diameter= 8 mm

Material = Ti-35 A Annealed

Yield Strength, Sy = 210 Mpa

Tensile Strength, Sut = 275 Mpa

m propeller = 0.030 kg

F propeller = 0.2943 N

11

Figure 9. Fatigue Calculation Diagrams

Se = ka.kb.kc.kd.ke.kf..Se’

Se’ = 0.5 Sut = 137.5 MPa

Surface Factor, ka

ka = a*Sutb

Surface finish, hot rolled

a = 57.7

b = -0.718

ka = 1.022668

Size Factor, kb

kb = 1.24.d-0.107

kb = 0.9926

12

Loading Factor, kc

kc = 1 For combined loading

Temperature Factor, kd

At 50 C kd = 1.010

Reliability Factor, ke

ke = 1

Miscellaneous-Effects Factor,kf

kf = 1

Characterizing Fluctuating Stresses

Fm = (Fmax + Fmin ) /2 Fa = (Fmax – Fmin )/2

σm = ( σmax + σmin )/ 2 σa = ( σmax + σmin) / 2

σbending = M.c / I σnormal = P/A τTorsion = T.r /J

Where ;

σbending = Bending Stress

M = Moment

c = distance to neutral axis

I = Moment of Inertia

T = Torque

r = Radius

J = Polar Moment of Inertia

A = Area

P = 2 N and -2 N

M= 0.02943 Nm

r= 0.004

I= (π* r4)/4 = 2.010619298e-10 m

4

J=(π* r4)/2= 4.021238597e-10 m

4

13

σbending = M.c / I = 0.585 MPa

σnormal = P/A = 0.039 Mpa and -0.039 Mpa

τTorsion = T.r /J =6.963 Mpa

The Distortion Energy theory

σ= [(σbending + σnormal) 2 + 3*τTorsion

2 ] ½

σmax = 12.076 Mpa

σmin = 12.072 Mpa

σm = 12.074 Mpa

σa = 0.002 Mpa

Soderberg

(σa / Se ) + ( σm/ Sy ) = 1 / n

Se = ka.kb.kc.kd.ke.kf.Se’

Se = 140.972 MPa

n = Safety Factor

(0.002/140.972) + (12.074/210) = 1/n

n= 17.338

4.1.4. Coupling and Ball Bearing

We have 22 mm outer diameter, 8 mm inner diameter and 7 mm thickness ball

bearing. We have used Chloraethyl to assembly for shaft and bearing. To extend shaft

we use coupling that has 7 mm and 8 mm inner dia. The maximum allowable torque of

shaft is 7 Nm.

14

Figure 10. Coupling (Right) and Ball Bearing (Left)

4.1.5. Propellers

Propeller selection is the hardest process for thruster system. Because if we

designed propeller that gives us desired thrust, we could not manufacture it. So we had

to try different type’s propeller.

The Criteria of Selection

Weightless

It has to be light because of the torque of motor and shaft.

Material

Material is important for corrosion.

Dimensions

The maximum diameter has to be 150 mm.

Cost

We had to test each propeller to reach desired thrust. For this process our budged

was limited.

Pair

15

The propeller that we selected must be two-way. According to these criteria we have

selected two propellers for vertical and horizontal directions.

4.1.5.1. 13mm Propellers

Used for vertical motion and they are taken from previous year’s project.

Figure 11. 13mm Propeller

4.1.5.2. 8mm Propellers

Used for horizontal motion and this propeller manufactured by Özgür Özzeybek

and it was reproduced at Has Çelikler.

16

Figure 12. 8mm Propeller

4.1.6. Test Results of Thrusters

We have manufactured a test device to measure net thrust force with respect to

voltage and current. In test we used seed oil as dielectric oil.

Figure 13. Thruster Test Setup

17

Figure 14. Graph of Current versus Voltage (Without Oil)

Figure 15. Graph of Thrust versus Voltage (Without Oil)

0

0,2

0,4

0,6

0,8

1

1,2

1,4

0 2 4 6 8 10 12 14

Cu

rre

nt(

A)

Voltage(V)

Current-Voltage ,In Air,Without Oil

13 mm propeller

8 mm propeller

0

0,5

1

1,5

2

2,5

3

3,5

4

4,5

0 2 4 6 8 10 12 14

Thru

st (

N)

Voltage(V)

Thrust-Voltage, Without oil

13 mm propeller

8 mm Propeller

18

Figure 16. Graph of Current versus Voltage (Without Oil)

Figure 17. Graph of Current versus Voltage (With Oil)

0

0,2

0,4

0,6

0,8

1

1,2

1,4

1,6

1,8

0 2 4 6 8 10 12 14

Cu

rre

nt(

A)

Voltage(V)

Voltage-Current,Without Oil

13 mm Propeller

8 mm Propeller

0

0,2

0,4

0,6

0,8

1

1,2

1,4

1,6

1,8

2

0 2 4 6 8 10 12 14

Cu

rre

nt(

A)

Voltage(V)

Current-Voltage,With Oil

13 mm Propeller

8 mm Propeller

19

Figure 18. Graph of Thrust versus Voltage (With Oil)

Figure 19. Cross Section of Thruster Assembly

0

0,5

1

1,5

2

2,5

3

3,5

4

4,5

0 2 4 6 8 10 12 14

Thru

st(N

)

Voltage(V)

Thrust-Voltage,With Oil

13 mm Propeller

8 mm Propeller

20

Figure 20. Assembly of Inner Components of Thruster

4.2. Drybox and Frame

For that work package, we separate it into five different sections to get better

results and understanding. These subsections are geometry, sealing, cable connectors

and mechanical analysis of the drybox and the semispherical Plexiglas dome.

21

4.2.1. Geometry

In order to have an advantageous and strong structure design for under

hydrostatic pressure, a cylindrical geometry was selected. Besides that criterion we tried

to keep the design simple and tried to have a symmetrical shape for increased stability.

We started with a cylindrical pipe which has a diameter of 140 mm and 380 mm in

length. The thickness of the pipe is 3 mm. Then two 5 mm thick flanges are welded to

the front and rear ends. These will help us to fasten the rear plate and front semi

spherical Plexiglas dome. Flanges and the end caps are fixed to the main body by 6

bolts and nuts (M8) through the M8 holes. The material of the body and the frame is

AISI316 stainless steel to create a sufficiently strong structure which can withstand the

forces due to the hydrostatic pressure of 0,6 MPa, and it is selected from a stainless

material to prevent the corrosion effects of seawater.

On the other hand the drybox bod and the frame are designed together to get a

monocoque structure. While designing the frame component, the general ideas are again

the symmetry and the positions of the thrusters for better stability. In order to deal with

any possible problems the orientation of the thrusters are kept on the same plane by the

center of mass. The geometry of the body can be seen the figure below.

Figure 21. Illustration of the Drybox Main Body

22

Figure 22. Technical Drawings of Drybox Main Body

23

Figure 23. Technical Drawings of Frame (in mm)

24

4.2.2. Sealing of the Drybox

As the result of the design we need to use O-rings to prevent water leaks into the

drybox and keep the electronic components away from sea water. The selected O-rings

(KO 1488035) with an inside diameter of 148.8 mm and thickness diameter of 3.52 mm

are supplied by the KASTAŞ. To place the O-rings the specific O-ring grooves are

machined on the flanges and the technical drawings of flange and O-ring assembly can

be seen from the figure below.

Figure 24. Technical Drawing of O-ring, Flange Assembly Cross Sectional View (in mm)

4.2.3. Cable Connections (Cable Glands)

The drybox has 5 separate cable connections for 4 thrusters and the main control

cable, to provide a waterproof solution custom made cable glands are used. They are

designed after the suggestions from the ROV producers, SUTA (Sualtı Teknolojileri

Araştırma), in Bodrum. They are machined from a hexagonal brass rod. The inner

components are an O-Ring and a conical shaped pressure ring. The figure below shows

the assembled and disassembled cable glands.

O-rings

25

4.2.4. Strength Analysis of Drybox

Drybox structure was analyzed by using Ansys 14.0 according to maximum

hydrostatic pressure of 0.6 MPa. The material is AISI316 Stainless Steel and

mechanical properties are given the table below.

Table 2. Mechanical Properties of AISI316 Stainless Steel [4]

MECHANICAL PROPERTIES

Density (×1000 kg/m3) 8

Poisson's Ratio 0.27-0.3

Elastic Modulus (GPa) 193

Tensile Strength (Mpa) 515

Yield Strength (Mpa) 205

Elongation (%) 40

Reduction in Area (%) 50

Hardness (HRB) 95

According to the results the maximum equivalent stress is 17.717 MPa.

Therefore the safety factor is 11 for compressive yield strength point of 207 MPa.

Figure 25. Pressure Acting to the Surface

26

Figure 26. Result of Equivalent Stress

Figure 27. Maximum Principle Stress

27

Figure 28. The Maximum Shear Stress

Figure 29. The Equivalent Stress

Because of the lack of sufficient space, we the full page figures of analysis are

not placed in this section. However you can find more them detailed figures in the

appendix section.

28

Table 3. Results of Stresses

4.2.5. Strength Analysis of Plexiglas

The semispherical front dome was produced from Plexiglas material and its

properties are given the table.

Table 4. Mechanical Properties of Plexiglas

[5]

Density / ISO 1183 / 1.19 g/cm3

Tensile strength / ISO 527-2/1B/5 / 80 MPa

Elongation at break / ISO 527-2/1B/5 / 5.5%

Modulus of elasticity / ISO 527-2/1B/1 / 3300 MPa

Flexural strength / ISO 178 / 115 MPa

Compressive yield stress / ISO 604 / 110 MPa

Shear modulus / ISO 537 / 1700 MPa

Impact strength / ISO 179/1fu / 15 kJ/m²

Notched impact strength / ISO 180/1 A / 1.6 kJ/m²

Minimum cold-bending radius / - / 330 x sheet thickness

Admissible material stress / - / 5 - 10 MPa

Poisson’s ratio / ISO 527-1 / 0.37

Ball indentation hardness / ISO 2039-1 / 175 MPa

Scratch resistance / ISO 9352 / 20 - 30% haze

TYPE Total

Deformation

Equivalent

(von-Mises)

Stress

Maximum

Principal

Stress

Maximum

Shear Stress

Normal

Stress

Minimum 0, mm 4,7149e-009

MPa

-6,2433 MPa 2,6511e-009

MPa

-17,62

MPa

Maximum 1,0228e-002

mm

17,717 MPa 23,817 MPa 9,7029 MPa 20,787

MPa

Type Shear

Stress

Maximum Principal

Elastic Strain

Equivalent

Elastic Strain

Maximum Shear

Elastic Strain

Minimum -8,3835

MPa

1,8121e-014 mm/mm 1,2138e-013

mm/mm

3,5989e-014

mm/mm

Maximum 8,3832

MPa

9,6535e-005 mm/mm 9,181e-005

mm/mm

1,3172e-004

mm/mm

29

Figure 30. Total Displacement in mm

Figure 31. Equivalent Stress in Pa

30

Figure 32. Equivalent Strain

According to the results and the compressive yield stress point, the safety factor

of Plexiglas is 8.870. After the strength calculation we have verified that our ROV can

dive to the 60 m depth without any trouble and it can even go deeper within safety

limits.

31

4.3. Control

4.3.1. Electronic Components

We have used a lot of different electronic devices to achieve the control of the

ROV. These are can be listed mainly as microprocessors, motors, motor driver units,

batteries, and communication shields and so on.

4.3.1.1. Arduino and Arduino Ethernet Shield

We are using Arduino Mega 2560 as our microcontroller. It is chosen since its

open source coded microcontroller and great utility in the robotics applications. Also it

has quite enough inputs and outputs on its board, which is needed for our ROV due to

having a lot of sub component to be attached.

Figure 33. Arduino Mega 2560

[6] (Source: http://arduino.cc/en/Main/arduinoBoardMega)

32

Arduino Mega has USB connection port but we couldn’t make use of it since

our robot will function at 50 meters depth, meaning we have to use at least 70-75 meters

long cable for tethering. Since we know that after 7-8 meters, USB communication will

be impossible and huge amount of data loss will be encountered, we had to find another

communication way between the Arduino mega placed in ROV with the User placed in

surface. So we figure the communication problem out by using Ethernet cable and an

Ethernet shield placed on the Arduino Mega. In our research we have learned that data

loss up to 100 meters is not a problem via Ethernet cable. Cat-6 type Ethernet cable will

be used for the communication between the Ethernet shield and PC.

We also made some tests to see the reliability of the Ethernet communication

before we use it for the ROV. In our tests, we have confirmed the same results.

Figure 34. Arduino Ethernet Shield

[7] (Source:

http://arduino.cc/en/Main/ArduinoEthernetShield)

33

4.3.1.2. Motor Driver Cards

We have searched through the internet but we couldn’t find any proper dc motor

control unit for our purpose. So we ourselves produced our dc motor control units. We

have manufactured it via printed circuit board method. It enables us to drive every

motor forward and backwards. It has great current drawn capability, it supports up to

50A normal current and 60A peak current for 10seconds.

Figure 35. Motor Driver Cards (Front View)

4.3.1.3. Batteries

We are asked to operate our ROV for 1 hour, at least. So we have made our

calculations to reach the desired operation time. We decided to use Li-Po batteries since

they are powerful, and lighter than the other battery options. Additionally, they are re-

chargeable and we can use them again and again. We are using 9.500mAh Li-Po

batteries in total.

34

4.3.1.4. Pressure Sensor

One of our aims is to obtain the pressure and depth information while on

operation. We are using Gems pressure sensor that transmits pressure up to 6 bars. We

can directly obtain pressure values from that sensor. However, we had to write some

algorithm to obtain depth information since we can’t directly obtain it. So we have

written a code, which transforms pressure into depth and then shows us on the control

panel.

Figure 36. Pressure Sensor

4.3.1.5. Camera

Acquiring subsea view is one of our main tasks. In order to do that, we are using

IP camera attached to the Arduino. Thanks to Ethernet communication we have no data

loss is seen during transmission.

35

4.3.1.6. Router

We are attached a router into our system, in order to link the ethernet shield and

IP camera to the main computer located in the surface.

Figure 37. TP Link WR 720N Router Rear View (Source: http://www.tp-

link.com/en/products/details/?model=TL-WR720N) [8]

Router wirelessly connects the IP camera. Ethernet shield is wired to the router

and the tether comes from the surface. We have selected TP-LINK WR 720N type,

since it’s small and sufficient for our requirements.

4.3.1.7. Electronic Circuits

After the coding part, hardware part comes in. We connected the electronic

equipment, which are electronic motor controllers, Arduino Mega & Arduino ethernet

shield, router, ip camera, and power control circuit needs to be linked all over. The hard

part of this process is fitting all the electronic devices into the ROV. After connecting

all the electronic parts, all the system looked like this:

Figure 38. Fully Assembled Electronic Components

36

4.4. Buoyancy and Stabilization

The ability of an object to float or sink relates to relation of buoyant force (B)

and weight (W). If B is greater than W, the object floats. Put other way, if B is smaller

than W, the object sinks. If they are equal to each other, the object remains where it is.

Based on the basic information, we have designed that, the density of our ROV is less

than the density of seawater. Thus, if any failure in mechanical or electronic systems of

our ROV occurs under water, it will provide a big benefit which is to rise automatically

to water surface by itself.

For stability design of ROV, it is the most important rule to put center of

buoyancy to the top and center of gravity to the bottom on same vertical axis. Therefore,

these two centers should be as far as possible from each other for more stable. In order

to increase distance between center of gravity and center of buoyancy, stand on the

bottom side of ROV and apparatus on the upper side of ROV for buoyant materials have

been designed. This technique provides easily stability on the pitch and roll axis.

4.4.1. Center of Buoyancy

Table 5. Center of Buoyancy

Center of Buoyancy

Ʃ (volume*distance) / Ʃ

(Volume)

Part Name Volume m^3 Unit x y

Vertical Thrusters 0,0004241 2 172 50

Horizontal Thrusters 0,0004241 2 364 80

Front Buoy 0,004 1 160 349

Rear Buoy 0,004 2 349 134

Drybox 0,0062 1 257 174

Center of Buoyancy (mm)

x axis 275,42848

y axis 183,805412

37

Figure 39. Center of Buoyancy and Mass

4.4.2. Buoyancy Calculations

Figure 40. Diagram of the Forces Acting on the Body

Center of Buoyancy Center of Mass

38

Table 6. Buoyancy Calculations

Table 7. Calculations for Needed Free Volume

Unit Mass Number of Material Total Mass of Materials Unit

mall.case 16,85 1 16,85 kg

mall.electronics 2 1 2 kg

moil for thruster 0,26 4 1,04 kg

mbuoyant material 0,825 3 2,475 kg

Total Mass of ROV

22,365 kg

Total Weight of ROV 219,40065 N

Desired Buoyancy Force 220,40065 N

Volume Unit

Required Free Volume 0,021918963 m3

Free Volume of Drybox 0,006157522 m3

Free Volume of Thrusters 0,001182244 m3

Total Volume of Materials 0,003050854 m3

Needed Free Volume 0,011528343 m

3

11,52834344 lt

Free Volume of the Buoyant Material 12 Lt

39

4.5. Object Scaling System

For this object scaling system, we aimed that the operator can get information

about the dimensions of objects which are seen on the user interface which are supplied

by camera view. By using that system, the user can get estimated values only, because

the interface will be availabe only for making estimations by the operator.

The hardware parts that are used by the system are the web-cam for image

acquisition and two red laser pointers for fixing the refence points. As software

equipment, there is a scale, which is very similar with a simple ruler, will be placed

horizontal and the vertical axis the camera view screen on the user interface.

The working principle can be explained as, two red pointer will be used for

determinig a specific distance which can be useful st the point of scaling. We decide the

distance between the first pointer and the second single red dot. Then the dimension of

the objects can be estimated by scaling the known distance to the one edge of the object.

Figure 41. User Interface of Scaling System

40

4.6. Communication and Tethering

The easiest way to communicate with the ROVs is to have no communication at

all. Direct cable connection can be used in the vehicles which are on board a support

ship and mission may be pre-programmed in the vehicle. Although this way is

inexpensive and simple, it limits flexibility in operation. It depends on the mission may

not be changed in response to what happens.

For the communication with the operator; ROVs use a tether, high-bandwidth

communication. With the electrical or fiber optic tethers we can transfer high-definition

video, but a tether between the operator and vehicle can be a problem. The vehicle must

be operated close to shore, or support vessel must be moved with the ROV. Only

relatively shallow depths may be reached, because the drag force on the tether becomes

prohibitive at some point. The perfect ROV should have the following features;

Minimum tether diameter.

Powered from the surface to increase working-endurance limit.

Very small in size.

Have an enough data pipeline for sensors. [9]

When we considered these reasons, a CAT6 type of cable connection was

selected for communication between the ROV and computer. Also there is a safety rope

and buoyant materials attached to the tether cable.

Figure 42. Tether Cable

Buoyant

Materials

CAT 6 Cable

41

4.7. User Interface

Control of the ROV consists of two part. First one is the coding part which is

done by Arduino compiler & Viusal Basic 6.0. The other part is the hardware part, and

composing of the required equipment and fitting them into the Nautilus.

First task is done with the help of Ali Vala kavuncu & Yiğit Gürsoytrak. These

guys handled with the coding part of the system. What they do is relating the joystick

with the needed movement inputs. Also we have constructed user interface within visual

basic. The figure of the user interface can be seen as follows:

Figure 43. User Interface

42

4.8. Manufacturing and Assembly

4.8.1. Manufacturing of Drybox

Production of drybox is made in Bursa by Efe Lazer. Thanks to this company we

got all our materials and laser cut is completed. All of our materials are stainless steel.

We used a cylindrical pipe as a body with 140 mm in diameter and 380 mm in length

and thickness is 3mm. Flanges with 5 mm thickness are cut in laser with 6 holes (M8) in

one side. After that, flanges went to the turning machine to open O-ring channels and

welded by TIG welding. Two legs with 5mm thickness were welded under the body to

tie thruster on the drybox. We bought a flat plate Plexiglas and put it on de body to see

how Plexiglas behaves between two flanges.

Figure 44. Unwelded Parts of Body

43

Figure 45. TIG Welding Process

Figure 46. Laser Cutting Process

Figure 47. Cylindrical Pipe (AISI316 Stainless Steel)

44

Figure 48. Flanges

4.8.2. Production of Thruster Casings

In the production of thruster casings again stainless steel cylindrical pipe is used

with 150mm length and 2mm thickness. On the front side, thanks to KASTAŞ

Company, we have delrin parts which have 2 seals and one O-ring in the shaft exit. In

the pipe delrin is used to put motor inside the casing. All the delrin materials were

manufactured in the IYTE’s workshop by us. Inner radius of 8mm bearing is used to

help the external shaft. On the back side of the casings, we used again delrin and we tied

them with two studs which are shown in figure below. Both sides of the delrin parts, we

used O-rings to get the waterproofing. IP68 Cable glands are used for cable exit. We

used them because, we don’t concern about the pressure difference in the casing with

the help of transformer oil inside the casing and the hose. Coupling with spring is used

to extend the shaft of the motor. Finally; we assembled all the materials and thrusters

are ready to test.

45

Figure 49. Casing Front Cap

Figure 50. Inside of a Casing

46

Figure 51. Inner Components Assembly of a Thruster

Figure 52. Hose, Blind Plug and Motor, Coupling and Shaft Assembly

47

Figure 53. Fully Assembled Thruster

4.8.3. Production of Cable Glands

Production of cable glands were done in the IYTE’s workshop as well. At first

we used steel material to test the manufacturing process. Then, we manufactured our

own cable gland with brass material and one O-ring for cable. These cable glands are

used in the back side of the drybox.

Figure 54. Cable Gland Figure 55. Cable Gland (Disassembled)

48

4.8.4. Production of Semispherical Plexiglas

We ordered our Plexiglas to the Özer Pleksi thanks to the Group 5. Serhat

Kerimoğlu has contact with the producer and we met with producer. According to our

body’s size Plexiglas manufactured in spherical shape.

Figure 56. Semispherical Plexiglas

4.8.5. Production of the Table for Rope (Pulley System)

We bought our rope with 70 m length and 8 mm in diameter and we needed to

produce a pulley system for ROV. With the help of this pulley, we can release and

collect our rope. This system manufactured in our workshop thanks to Şerafettin

Çavdar.

Figure 57. Pulley System Left View Figure 58. Pulley System Front View

49

CHAPTER 5

RESULTS

5.1. Vertical Motion

When the vertical thrusters start to run at 12 V, they create 7.75 N thrust. This

value, buoyancy force and weight are constant. And Drag force is changing with respect

to velocity. The correlation of these forces is:

FThrust + Weight – FBuoyancy – FDrag = Facceleration

Facceleration = m . a

V1 = V0 + a.t

Where;

a = Acceleration

m = Mass

V = Velocity

Velocity of ROV is increased by 0.01 m/s increment. When the Facceleration is zero, the

velocity reaches maximum value. Data are given in Appendix B.

Figure 59. Vertical Motion Velocity – Time Graph

0

0,05

0,1

0,15

0,2

0,25

0,3

0,35

0,4

0 2 4 6 8 10

Ve

loci

ty(m

/s)

Time(sec)

Velocity-Time

Velocity

50

Figure 60. Vertical Motion Facc – Fdrag versus Time Graph

Figure 61. Vertical Motion Acceleration – Time Graph

This graph shows mechanical power and electric power with time.

Mechanical Power = FThrusters . Velocity

Electric Power = Voltage . Current

-1

0

1

2

3

4

5

6

7

8

0 2 4 6 8 10

Forc

es(

N)

Time(s)

Facceleration-Fdrag with Time

Facceleration

Fdrag

-0,05

0

0,05

0,1

0,15

0,2

0,25

0,3

0,35

0 2 4 6 8 10

Acc

ele

rati

on

(m/s

2)

Time(sec)

Acceleration-Time

Acceleration

51

Figure 62. Vertical Motion Mechanical and Electrical Power

5.2. Horizontal Motion

Horizontal thrusters create 5.50 N thrust. And drag force is changing with

respect to time. The velocity of ROV in horizontal direction is increased by 0.02 m/s

increment. The correlation of forces is:

FThruster – FDrag = F acceleration

Facceleration = m. a

V1=V0 +a.t

Where;

a = Acceleration

m = Mass

V = Velocity

These graphs show the relationship between velocity, acceleration and forces

with time. Data are given in Appendix B

0

5

10

15

20

25

30

35

40

45

50

0 2 4 6 8 10

Po

we

r(W

)

Time(sec)

Mechanical Power

Electric Power

52

Figure 63. Horizontal Motion Velocity – Time Graph

Figure 64. Horizontal Motion Facc – Fdrag – Time Graph

0

0,05

0,1

0,15

0,2

0,25

0,3

0,35

0,4

0,45

0,5

0 1 2 3 4 5 6

Ve

loci

ty(m

/s)

Time(sec)

Velocity-Time

Velocity

-1

0

1

2

3

4

5

6

0 1 2 3 4 5 6

Forc

es(

N)

Time(s)

Facceleration,Fdrag with Time

Facceleration

Fdrag

53

Figure 65. Horizontal Motion Acceleration – Time Graph

This graph shows mechanical power and electric power with time.

Mechanical Power = FThrusters . Velocity

Electric Power = Voltage . Current

Figure 66. Horizontal Motion Mechanical and Electrical Power versus Time

-0,05

0

0,05

0,1

0,15

0,2

0,25

0,3

0 1 2 3 4 5 6

Acc

ele

rati

on

(m/s

2)

Time(sec)

Acceleration-Time

Acceleration

0

5

10

15

20

25

30

35

40

45

50

0 2 4 6

Po

we

r(W

)

Time(sec)

Mechanical and Electric Power-Time

Mechanical Power

Electric Power

54

5.3. Power Budget

We have 9500 mAh Li-Po batteries. When the all thrusters are running

maximum power, there is no need battery up to about 60 minutes.

Figure 67. Maximum Power Consumption of the System

0

1000

2000

3000

4000

5000

6000

7000

8000

9000

10000

0 10 20 30 40 50 60 70

Bat

tery

(mA

h)

time(min)

Battery-Time

mAh

55

5.4. Total Cost

This project is funded by our sponsors and we defined a maximum budget of

2000 TL and tried not to exceed that limit. As can be seen from the table below the total

expenses are about the maximum limit.

Table 8. Cost Analysis

Item Cost

DC Motors (Including Burned Outs and Unused) 192

Production Costs 250

Ethernet Shield 135

Propellers 20

Shafts 40

Cable Glands 35

Cable 55

Plexiglas Dome 60

Li-Po (9500 mAh) Battery 75

Buoyants 75

Electronic Equipment 130

Camera Stand 38

Labour Cost 350

Fuel Cost 250

Rope 40

Paint 20

Delrin 90

Motor Driver Boards 50

Other Misc. Cost 150

TOTAL (TL) 2055

56

References

[1] Sea View, “What is a ROV?”

http://www.seaviewsystems.com/questions/what-is-an-rov/

[2] Cable Gland,

http://www.cable-glands-brass.com/brass-metric-strain-relief/brass-cable-glands.gif

[3] Robotistan, “12V 750 rpm Redüktörlü DC Motor”,

http://www.robotistan.com/12V-750Rpm-Reduktorlu-DC-Motor,PR-785.html

[4] Efunda.com, “Stainless Steel”,

http://www.efunda.com/Materials/alloys/stainless_steels/show_stainless.cfm?ID=AISI_

Type_316&prop=all&Page_Title=AISI%20Type%20316, in 2013.

[5] Plexiglas.net, “Plexiglas Properties”,

http://www.plexiglas.net/product/plexiglas/en/about/faq/Pages/properties.aspx, in 2013.

[6] Arduino.cc, Arduino “Mega 2650”,

http://arduino.cc/en/Main/arduinoBoardMega

[7] Arduino.cc, Arduino Ethernet Shield,

http://arduino.cc/en/Main/ArduinoEthernetShield

[8] TP Link, “150 Mbps Wireless N Router”,

http://www.tp-link.com/en/products/details/?model=TL-WR720N

[9] OWENS, Dylan. DSpace@MIT. June 2009.

http://dspace.mit.edu/handle/1721.1/50267.

57

APPENDIX A

A1. Gantt Chart

The Gantt chart can be seen on the next page

58

APPENDIX B

B1. Vertical Motion Data

Table B1. Vertical Motion Calculation Data

Vertical Motion

13 mm Propeller

Fthruster buoyancy force (N)

weight (N) Fdrag

(vertical) (N) velocity

(m/s) Facceleration

(m/s^2) Time (s)

Acceleration (m/s^2)

Power (W)

Electric Power

7,75 220,40065 219,40065 0 0 6,75 0 0,301810865 0 43,2

7,75 220,40065 219,40065 0,00489008 0,01 6,74510992 0,033133333 0,301592216 0,0775 43,2

7,75 220,40065 219,40065 0,01956032 0,02 6,73043968 0,066290688 0,30093627 0,155 43,2

7,75 220,40065 219,40065 0,04401072 0,03 6,70598928 0,099520315 0,299843026 0,2325 43,2

7,75 220,40065 219,40065 0,078241279 0,04 6,671758721 0,132871099 0,298312485 0,31 43,2

7,75 220,40065 219,40065 0,122251999 0,05 6,627748001 0,166392994 0,296344646 0,3875 43,2

7,75 220,40065 219,40065 0,176042878 0,06 6,573957122 0,200137488 0,293939509 0,465 43,2

7,75 220,40065 219,40065 0,239613918 0,07 6,510386082 0,234158093 0,291097075 0,5425 43,2

7,75 220,40065 219,40065 0,312965117 0,08 6,437034883 0,268510895 0,287817343 0,62 43,2

7,75 220,40065 219,40065 0,396096476 0,09 6,353903524 0,303255152 0,284100314 0,6975 43,2

7,75 220,40065 219,40065 0,489007995 0,1 6,260992005 0,338453987 0,279945987 0,775 43,2

7,75 220,40065 219,40065 0,591699674 0,11 6,158300326 0,374175164 0,275354363 0,8525 43,2

7,75 220,40065 219,40065 0,704171513 0,12 6,045828487 0,410492002 0,270325441 0,93 43,2

7,75 220,40065 219,40065 0,826423511 0,13 5,923576489 0,447484451 0,264859221 1,0075 43,2

7,75 220,40065 219,40065 0,95845567 0,14 5,79154433 0,485240358 0,258955704 1,085 43,2

7,75 220,40065 219,40065 1,100267989 0,15 5,649732011 0,523857001 0,25261489 1,1625 43,2

7,75 220,40065 219,40065 1,251860467 0,16 5,498139533 0,563442949 0,245836778 1,24 43,2

7,75 220,40065 219,40065 1,413233105 0,17 5,336766895 0,604120345 0,238621368 1,3175 43,2

7,75 220,40065 219,40065 1,584385903 0,18 5,165614097 0,646027741 0,230968661 1,395 43,2

7,75 220,40065 219,40065 1,765318862 0,19 4,984681138 0,689323658 0,222878656 1,4725 43,2

7,75 220,40065 219,40065 1,95603198 0,2 4,79396802 0,734191121 0,214351353 1,55 43,2

7,75 220,40065 219,40065 2,156525258 0,21 4,593474742 0,780843498 0,205386754 1,6275 43,2

7,75 220,40065 219,40065 2,366798695 0,22 4,383201305 0,829532129 0,195984856 1,705 43,2

7,75 220,40065 219,40065 2,586852293 0,23 4,163147707 0,88055648 0,186145661 1,7825 43,2

7,75 220,40065 219,40065 2,816686051 0,24 3,933313949 0,93427785 0,175869168 1,86 43,2

7,75 220,40065 219,40065 3,056299968 0,25 3,693700032 0,9911383 0,165155378 1,9375 43,2

7,75 220,40065 219,40065 3,305694046 0,26 3,444305954 1,051687342 0,15400429 2,015 43,2

7,75 220,40065 219,40065 3,564868283 0,27 3,185131717 1,116620598 0,142415905 2,0925 43,2

7,75 220,40065 219,40065 3,83382268 0,28 2,91617732 1,186837475 0,130390222 2,17 43,2

7,75 220,40065 219,40065 4,112557237 0,29 2,637442763 1,263530342 0,117927242 2,2475 43,2

7,75 220,40065 219,40065 4,401071954 0,3 2,348928046 1,348328391 0,105026964 2,325 43,2

7,75 220,40065 219,40065 4,699366831 0,31 2,050633169 1,443542035 0,091689388 2,4025 43,2

7,75 220,40065 219,40065 5,007441868 0,32 1,742558132 1,55260591 0,077914515 2,48 43,2

7,75 220,40065 219,40065 5,325297064 0,33 1,424702936 1,6809517 0,063702345 2,5575 43,2

7,75 220,40065 219,40065 5,652932421 0,34 1,097067579 1,837931794 0,049052876 2,635 43,2

7,75 220,40065 219,40065 5,990347938 0,35 0,759652062 2,041793438 0,033966111 2,7125 43,2

7,75 220,40065 219,40065 6,337543614 0,36 0,412456386 2,336204539 0,018442047 2,79 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0,05548055 2,878443688 0,002480686 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 2,95 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 3 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 3,05 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 3,1 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 3,15 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 3,2 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 3,25 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 3,3 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 3,35 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 3,4 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 3,45 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 3,5 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 3,55 0 2,8675 43,2

59

7,75 220,40065 219,40065 6,69451945 0,37 0 3,6 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 3,65 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 3,7 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 3,75 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 3,8 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 3,85 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 3,9 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 3,95 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 4 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 4,05 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 4,1 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 4,15 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 4,2 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 4,25 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 4,3 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 4,35 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 4,4 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 4,45 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 4,5 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 4,55 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 4,6 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 4,65 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 4,7 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 4,75 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 4,8 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 4,85 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 4,9 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 4,95 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 5 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 5,05 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 5,1 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 5,15 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 5,2 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 5,25 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 5,3 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 5,35 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 5,4 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 5,45 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 5,5 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 5,55 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 5,6 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 5,65 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 5,7 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 5,75 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 5,8 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 5,85 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 5,9 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 5,95 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 6 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 6,05 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 6,1 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 6,15 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 6,2 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 6,25 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 6,3 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 6,35 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 6,4 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 6,45 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 6,5 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 6,55 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 6,6 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 6,65 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 6,7 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 6,75 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 6,8 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 6,85 0 2,8675 43,2

60

7,75 220,40065 219,40065 6,69451945 0,37 0 6,9 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 6,95 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 7 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 7,05 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 7,1 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 7,15 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 7,2 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 7,25 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 7,3 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 7,35 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 7,4 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 7,45 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 7,5 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 7,55 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 7,6 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 7,65 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 7,7 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 7,75 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 7,8 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 7,85 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 7,9 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 7,95 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 8 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 8,05 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 8,1 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 8,15 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 8,2 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 8,25 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 8,3 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 8,35 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 8,4 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 8,45 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 8,5 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 8,55 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 8,6 0 2,8675 43,2

7,75 220,40065 219,40065 6,69451945 0,37 0 8,65 0 2,8675 43,2

61

B2. Horizontal Motion Data

Table B2. Horizontal Motion Results Data

Facceleration (N)

Fthrusters (N)

Fdrag (N) Velocity

(m/s) Acceleration

(m/s2) mass (kg) time (sec) Power(W)

Electrical Power

5,4936 5,4936 0 0 0,24104918 22,79037 0 0 43,2

5,4820106 5,4936 0,0115894 0,02 0,240540658 0,082971 0,109872 43,2

5,4472424 5,4936 0,0463576 0,04 0,239015093 0,166117 0,219744 43,2

5,3892954 5,4936 0,1043046 0,06 0,236472484 0,249793 0,329616 43,2

5,3081696 5,4936 0,1854304 0,08 0,232912831 0,33437 0,439488 43,2

5,203865 5,4936 0,289735 0,1 0,228336135 0,420239 0,54936 43,2

5,0763816 5,4936 0,4172184 0,12 0,222742395 0,507829 0,659232 43,2

4,9257194 5,4936 0,5678806 0,14 0,216131612 0,597619 0,769104 43,2

4,7518784 5,4936 0,7417216 0,16 0,208503785 0,690155 0,878976 43,2

4,5548586 5,4936 0,9387414 0,18 0,199858914 0,786077 0,988848 43,2

4,33466 5,4936 1,15894 0,2 0,190197 0,886147 1,09872 43,2

4,0912826 5,4936 1,4023174 0,22 0,179518042 0,991301 1,208592 43,2

3,8247264 5,4936 1,6688736 0,24 0,167822041 1,102711 1,318464 43,2

3,5349914 5,4936 1,9586086 0,26 0,155108996 1,221885 1,428336 43,2

3,2220776 5,4936 2,2715224 0,28 0,141378907 1,350826 1,538208 43,2

2,885985 5,4936 2,607615 0,3 0,126631775 1,49229 1,64808 43,2

2,5267136 5,4936 2,9668864 0,32 0,110867599 1,650228 1,757952 43,2

2,1442634 5,4936 3,3493366 0,34 0,094086379 1,830624 1,867824 43,2

1,7386344 5,4936 3,7549656 0,36 0,076288116 2,043194 1,977696 43,2

1,3098266 5,4936 4,1837734 0,38 0,05747281 2,305358 2,087568 43,2

0,85784 5,4936 4,63576 0,4 0,03764046 2,653349 2,19744 43,2

0,3826746 5,4936 5,1109254 0,42 0,016791066 3,184692 2,307312 43,2

0,3826746 5,4936 5,1109254 0,42 0,016791066 3,184692 2,307312 43,2

0,13639985 5,4936 5,3572002 0,43 0,005984977 3,780247 2,362248 43,2

0,01108946 5,4936 5,4825105 0,435 0,000486585 4,615672 2,389716 43,2

0,01108946 5,4936 5,4825105 0,435 0,000486585 4,615672 2,389716 43,2

0 5,4936 5,4825105 0,435 0 5 2,389716 43,2

0 5,4936 5,4825105 0,435 0 5,1 2,389716 43,2

0 5,4936 5,4825105 0,435 0 5,2 2,389716 43,2

0 5,4936 5,4825105 0,435 0 5,3 2,389716 43,2

0 5,4936 5,4825105 0,435 0 5,4 2,389716 43,2

0 5,4936 5,4825105 0,435 0 5,5 2,389716 43,2

0 5,4936 5,4825105 0,435 0 5,6 2,389716 43,2

0 5,4936 5,4825105 0,435 0 5,7 2,389716 43,2

62

ÖNERİLER

Sualtı gözlem aracı tasarlayacak olan takımlara teknik ve işleyiş hakkında,

yaşadığımız tecrübelerden birkaç öneride bulunabiliriz. Bunun yanında dersin işlenişi

ile ilgili de önerilerim olacak. Öncelikle proje işleyişi ile ilgili şunu kesinlikle

söyleyebilirim ki, 6 kişilik bir grubu yönetmek kolay bir iş değil. Yapılmasının faydalı

olacağını düşündüğüm şeyleri maddeler halinde yazacağım.

1. İlk olarak yapılması gereken herkesin boş günlerini göze alarak ortak bir

toplantı zamanı belirlemek. Toplantılar bir projede koordinasyonu sağlama açısından

çok önemlidir.

2. Proje tamamen öğrencilerin maddi kaynakları ile yapıldığından, birinci dönem

sonunda bir sponsorluk dosyası hazırlayıp firmalara başvurmanız sizin için faydalı

olacaktır.

3. Hazırlanan gantt çizelgesine göre hareket etmek, projenin zamanında

bitmesini sağlayacaktır fakat çizelgeyi hazırlarken test sürelerini mümkün olduğunca

uzun tutun çünkü beklenmedik aksilikler olabiliyor.

4. Dönem başında yapılan görev dağılımına bağlı kalın, yavaş giden işlerde

sorumluyu en başından uyarın çünkü aksayan işler ileriki zamanlarda başınıza büyük

dertler açabilir.

Dersin işlenişi hakkında;

1. Üç haftada bir yapılan sunumlar faydalı oluyor fakat verilen raporların geri

dönüşü yapılırsa projeyi sürdüren grup eksik veya yanlış yaptığı yerleri görüp

düzeltebilir.

2. Bizim projemizde en çok zorlandığımız kısım elektronik oldu. Bunun sebebi

makine mühendisliği öğrencisi olmamızdır ve şahsi görüşüm şudur ki, bu tarz kontrolün

dahil olduğu projelerde her gruba en az 2 elektronik veya bilgisayar mühendisliği

öğrencisi dahil edilmelidir.

Projeyi yapacak arkadaşlara başarılar dilerim.

Serdar ÖZDEMİR